六路循跡時間顯示小車

ID:117724 · 發(fā)表于 2016-6-11 23:04

六路循跡小車，紅外模塊作循跡部分，主控芯片用STC89C52RC，lcd1602顯示小車行駛時間，小車通過設(shè)定標(biāo)志位來通過復(fù)雜的賽道，小車賽道如圖：

白色區(qū)域是上坡，兩個凹槽是障礙物

對賽道解析：中間白色，兩邊黑色的是橋，藍(lán)色的區(qū)域是一個坡，中間的凹槽是障礙物．

程序如下：

#include <reg52.h>
#include <intrins.h>
#define uchar unsigned char
#define uint unsigned int
sbit En_L=P1^4;
sbit En_R=P1^5; //定義使能端
sbit l2 = P2^0;
sbit ml = P2^1;
sbit r2 = P2^2;
sbit mr = P2^3;
sbit l1 = P1^6;
sbit r1 = P1^7; //定義傳感器位置：（l1）（l2） (ml) (mr) (r2) (r1)
sbit IN1 = P1^0;
sbit IN2 = P1^1;
sbit IN3 = P1^2;
sbit IN4 = P1^3; //定義驅(qū)動IO口
uchar count,num;
uchar bz=0; //定義標(biāo)志位
#define PWM_CHUZHI 100
#define S_CIRCLE 100
uchar Speed_L_Now;
uchar Speed_R_Now; //左右輪實(shí)時速度
#define Data P0 //lcd數(shù)據(jù)端口
sbit RS = P2^7; //lcd的rs口
sbit RW = P2^6; //lcd的rw口
sbit E = P2^5; //lcd的e口
int sec=0,min=0;
uchar FirstLine[]=" Time:00min00s";
/********功能函數(shù)********/
/***延時函數(shù)***/
void DelayMs(uint z)
{
uint x,y;
for(x=z;x>0;x--)
for(y=110;y>0;y--);
}
/******液晶寫命令******/
void lcd_write_com(uchar c)
{
DelayMs(5); //操作前短暫延時，保證信號穩(wěn)定
E=0;
RS=0;
RW=0;
_nop_();
E=1;
Data=c;
E=0;
}
/*****寫數(shù)據(jù)*****/
void lcd_write_dat(uchar c)
{
DelayMs(5);// 操作前短暫延時，保證信號穩(wěn)定
E=0;
RS=1;
RW=0;
_nop_();
E=1;
Data=c;
E=0;
RS=0;
}
/*******LCD初始化****/
void lcd_init()
{
DelayMs(15);
lcd_write_com(0x38);
DelayMs(10);
lcd_write_com(0x38);
DelayMs(10);
lcd_write_com(0x38);
DelayMs(10);
lcd_write_com(0x06);
DelayMs(10); //顯示光標(biāo)移動位置
lcd_write_com(0x0c);
DelayMs(10); //顯示開及光標(biāo)設(shè)置
lcd_write_com(0x01);
DelayMs(10); //顯示清屏
for(num=0;num<15;num++)
{
lcd_write_dat(FirstLine[num]); //將“Time:”寫入LCD
DelayMs(5);
}
}
/****定時器T1：液晶實(shí)時顯示***/
void timer1()interrupt 3
{
TH1=(65536-50000)/256;
TL1=(65536-50000)%256;
count++;
}
/******定時器0用于輸出PWM控制電機(jī)速度*******/
void motor_pwm_out()interrupt 1
{
static uchar count;
TH0=(65536-PWM_CHUZHI)/256;
TL0=(65536-PWM_CHUZHI)%256;
count++;
if(count>=Speed_L_Now)
{
En_L=0;
}
if(count>=Speed_R_Now)
{
En_R=0;
}
if(count==S_CIRCLE)
{
En_L=1;
En_R=1;
count=0;
}
}
void write_fm(uchar add,uchar date) //將分秒寫進(jìn)lcd的函數(shù)
{
uint shi,ge;
lcd_write_com(0x80+add);
shi=date/10;
ge =date%10;
lcd_write_dat(0x30+shi);
lcd_write_dat(0x30+ge);
}
void ahead() //前進(jìn)函數(shù)
{
IN1=1;
IN2=0;
IN3=1;
IN4=0;
Speed_L_Now=46;
Speed_R_Now=43;
}
void poahead() //上坡后的前進(jìn)函數(shù)
{
IN1=1;
IN2=0;
IN3=1;
IN4=0;
Speed_L_Now=43;
Speed_R_Now=40;
}
void turn_left() //左轉(zhuǎn)函數(shù)
{
IN1=0;
IN2=1;
IN3=1;
IN4=0;
Speed_L_Now=44;
Speed_R_Now=42;
}
void turn_right() //右轉(zhuǎn)函數(shù)
{
IN1=1;
IN2=0;
IN3=0;
IN4=1;
Speed_L_Now=44;
Speed_R_Now=42;
}
void big_turn() //上坡后大轉(zhuǎn)彎函數(shù)
{
IN1=1;
IN2=0;
IN3=0;
IN4=1;
Speed_L_Now=43;
Speed_R_Now=20;
}
void stop() //停止函數(shù)
{
IN1=0;
IN2=0;
IN3=0;
IN4=0;
}
void xunji1() //循跡控制函數(shù)
{
if(l1==0&&ml==0&&r1==0&&mr==0&&l2==0&&r2==0) //六個都沒檢測到黑線
ahead();
if(l1==1&&ml==0&&r1==0&&mr==0&&l2==0&&r2==0) //l1檢測到
turn_left();
if(l1==0&&ml==0&&r1==0&&mr==0&&l2==1&&r2==0) //l2檢測到
turn_left();
if(l1==1&&ml==1&&r1==0&&mr==0&&l2==1&&r2==0) //l1,l2,ml檢測到
ahead();
if(l1==0&&ml==1&&r1==0&&mr==0&&l2==1&&r2==0) //l2,ml檢測到
turn_left();
if(l1==0&&ml==0&&r1==1&&mr==0&&l2==0&&r2==1) //r1,r2檢測到
turn_right();
if(l1==0&&ml==0&&r1==0&&mr==1&&l2==0&&r2==1) //mr,r2檢測到
turn_right();
if(l1==0&&ml==1&&r1==0&&mr==0&&l2==0&&r2==0) //ml檢測到
turn_left();
if(l1==0&&ml==1&&mr==1&&r1==0&&l2==0&&r2==0) //ml,mr檢測到
poahead();
if(l1==0&&ml==0&&mr==1&&r1==0&&l2==0&&r2==0) //mr檢測到
turn_right();
if(l1==0&&ml==0&&mr==0&&r1==1&&l2==0&&r2==0) //r1檢測到
turn_right();
if(l1==0&&ml==0&&mr==1&&r1==0&&l2==0&&r2==1) //mr,r2檢測到
turn_right();
if(l1==0&&ml==0&&mr==1&&r1==1&&l2==0&&r2==1) //r1,r2,mr檢測到
ahead();
if(l1==0&&ml==1&&mr==1&&r1==1&&l2==0&&r2==1) //r1,r2,mr,ml檢測到
ahead();
if(l1==1&&ml==1&&mr==1&&r1==0&&l2==1&&r2==0) //l1,l2,mr,ml檢測到
ahead();
if(l1==0&&ml==1&&mr==1&&r1==0&&l2==1&&r2==1) //l2,r2,ml,mr檢測到
ahead();
if(l1==1&&ml==1&&mr==1&&r1==1&&l2==1&&r2==1) //六個都檢測到
ahead();
}
void xunji2()
{
if(l1==0&&ml==0&&r1==0&&mr==0&&l2==0&&r2==0) //六個都沒檢測到黑線
ahead();
if(l1==1&&ml==0&&r1==0&&mr==0&&l2==0&&r2==0) //l1檢測到
turn_right();
if(l1==0&&ml==0&&r1==0&&mr==0&&l2==1&&r2==0) //l2檢測到
turn_right();
if(l1==1&&ml==1&&r1==0&&mr==0&&l2==1&&r2==0) //l1,l2,ml檢測到
ahead();
if(l1==0&&ml==1&&r1==0&&mr==0&&l2==1&&r2==0) //l2,ml檢測到
turn_right();
if(l1==0&&ml==0&&r1==1&&mr==0&&l2==0&&r2==1) //r1,r2檢測到
turn_left();
if(l1==0&&ml==0&&r1==0&&mr==1&&l2==0&&r2==1) //mr,r2檢測到
turn_left();
if(l1==0&&ml==0&&mr==0&&r1==1&&l2==0&&r2==0) //r1檢測到
turn_left();
if(l1==0&&ml==0&&mr==1&&r1==0&&l2==0&&r2==1) //mr,r2檢測到
turn_left();
if(l1==0&&ml==0&&mr==1&&r1==1&&l2==0&&r2==1) //r1,r2,mr檢測到
ahead();
if(l1==1&&ml==1&&mr==1&&r1==0&&l2==1&&r2==0) //l1,l2,mr,ml檢測到
big_turn();
if(l1==0&&ml==1&&mr==1&&r1==1&&l2==0&&r2==1) //r1,r2,mr,ml檢測到
turn_right();
if(l1==1&&ml==1&&mr==1&&r1==1&&l2==1&&r2==1) //六個都檢測到
big_turn();
bz++;
}
void xunji3()
{
if(l1==0&&ml==0&&r1==0&&mr==0&&l2==0&&r2==0) //六個都沒檢測到黑線
poahead();
if(l1==1&&ml==0&&r1==0&&mr==0&&l2==0&&r2==0) //l1檢測到
turn_right();
if(l1==0&&ml==0&&r1==0&&mr==0&&l2==1&&r2==0) //l2檢測到
turn_right();
if(l1==1&&ml==1&&r1==0&&mr==0&&l2==1&&r2==0) //l1,l2,ml檢測到
turn_right();
if(l1==0&&ml==1&&r1==0&&mr==0&&l2==1&&r2==0) //l2,ml檢測到
turn_right();
if(l1==0&&ml==0&&r1==1&&mr==0&&l2==0&&r2==1) //r1,r2檢測到
turn_left();
if(l1==0&&ml==0&&r1==0&&mr==1&&l2==0&&r2==1) //mr,r2檢測到
turn_left();
if(l1==0&&ml==0&&mr==0&&r1==1&&l2==0&&r2==0) //r1檢測到
turn_left();
if(l1==0&&ml==0&&mr==1&&r1==0&&l2==0&&r2==1) //mr,r2檢測到
turn_left();
if(l1==0&&ml==0&&mr==1&&r1==1&&l2==0&&r2==1) //r1,r2,mr檢測到
turn_left();
if(l1==0&&ml==1&&mr==1&&r1==1&&l2==0&&r2==1) //r1,r2,mr,ml檢測到
turn_right();
if(l1==1&&ml==1&&mr==1&&r1==1&&l2==1&&r2==1) //六個都檢測到
poahead();
bz++;
}
void xunji4()
{
if(l1==0&&ml==0&&r1==0&&mr==0&&l2==0&&r2==0) //六個都沒檢測到黑線
poahead();
if(l1==1&&ml==0&&r1==0&&mr==0&&l2==0&&r2==0) //l1檢測到
turn_right();
if(l1==0&&ml==0&&r1==0&&mr==0&&l2==1&&r2==0) //l2檢測到
turn_right();
if(l1==1&&ml==1&&r1==0&&mr==0&&l2==1&&r2==0) //l1,l2,ml檢測到
poahead();
if(l1==0&&ml==1&&r1==0&&mr==0&&l2==1&&r2==0) //l2,ml檢測到
turn_right();
if(l1==0&&ml==0&&r1==1&&mr==0&&l2==0&&r2==1) //r1,r2檢測到
turn_left();
if(l1==0&&ml==0&&r1==0&&mr==1&&l2==0&&r2==1) //mr,r2檢測到
turn_left();
if(l1==0&&ml==0&&mr==0&&r1==1&&l2==0&&r2==0) //r1檢測到
turn_left();
if(l1==0&&ml==0&&mr==1&&r1==0&&l2==0&&r2==1) //mr,r2檢測到
turn_left();
if(l1==0&&ml==0&&mr==1&&r1==1&&l2==0&&r2==1) //r1,r2,mr檢測到
poahead();
if(l1==1&&ml==1&&mr==1&&r1==0&&l2==1&&r2==0) //l1,l2,mr,ml檢測到
poahead();
if(l1==0&&ml==1&&mr==1&&r1==1&&l2==0&&r2==1) //r1,r2,mr,ml檢測到
poahead();
if(l1==1&&ml==1&&mr==1&&r1==1&&l2==1&&r2==1) //六個都檢測到
stop();
}
/******mcu初始化*******/
void mcu_init()
{
TMOD=0x11; // 設(shè)置定時器0和為工作方式1（0001 0001）
TH0=(65536-PWM_CHUZHI)/256; //裝初值
TL0=(65536-PWM_CHUZHI)%256;
TH1=(65536-50000)/256; //裝初值(50ms溢出一次)
TL1=(65536-50000)%256;
EA=1; //開總中斷
ET0=1; //開定時器0中斷
ET1=1; //開定時器1中斷
TR0=1; //啟動定時器0
TR1=1; //啟動定時器1
IT0=1;
IT1=1;
EX0=1;
EX1=1;
En_L=1;
En_R=1;
ahead();
}
/*********main********/
void main()
{
lcd_init(); //液晶初始化
DelayMs(20);
mcu_init(); //mcu初始化
while(1)
{
switch(bz)
{
case 0: xunji1();break;
case 1: xunji1();break;
case 2: xunji1();break;
case 3: xunji2();break;
case 4: xunji2();break;
case 5: xunji3();break;
case 6: xunji4();break;
default: xunji4();
}
if(count==20) //將分和秒的數(shù)值寫進(jìn)lcd
{
count=0;
sec++;
if(sec==60)
{
sec=0;
min++;
}
write_fm(12,sec);
write_fm(7,min);
}
}
}

復(fù)制代碼

注：小車選擇上坡和過橋，不繞過障礙物

ID:126509 · 發(fā)表于 2016-6-13 22:02

我愛你版主親愛的母親

ID:146651 · 發(fā)表于 2016-11-8 08:42

好資料，收藏學(xué)習(xí)了，評分給您5黑幣。

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六路循跡時間顯示小車

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